Fixed the shutdown issue. Needed to implement a signal handler, because when we pressed ctrl+c, ros would skip over our duoShutdown() function, and leave the camera on, and therefore the next time we ran the camera, it did not know what duoInstance to use to close the connection. Have to contact duo about valgrind output that relates to them. Now duo3d_camera is 100% functional and ready for v1.0 release